A method of and system for warning an operator of a safety-related condition of an unmanned vessel

Abstract

A method of warning an operator of a safety-related condition of an unmanned vessel is disclosed. The method is performed by a processor and comprises the steps of: detecting presence of a specific safety-related condition, the presence of the specific safety-related condition being determined by comparing a parameter of a subsystem of the vessel with a predefined safety-warning threshold; indicating the presence of the specific safety-related condition to the operator via a display unit by triggering a display item such that the operator is prompted to take an action to respond to the specific safety-related condition, the display item being triggerable by one or more safety-related conditions comprising the specific safety-related condition. Unlocking insights from Geo-Data, the present invention further relates to improvements in sustainability and environmental developments: together we create a safe and liveable world.

Description

A METHOD OF AND SYSTEM FOR WARNING AN OPERATOR OF A SAFETY-RELATED CONDITION OF AN UNMANNED VESSELFIELD OF THE INVENTION

[0001] The present disclosure generally relates to the field of unmanned surface vessels, and more specifically to a method of warning an operator of a safety-related condition of an unmanned vessel. Unlocking insights from Geo-Data, the present invention further relates to improvements in sustainability and environmental developments: together we create a safe and liveable world.BACKGROUND OF THE INVENTION

[0002] Unmanned vessels, such as, Unmanned Surface Vessels (US Vs), are maritime platforms that operate autonomously or through remote control, serving various applications such as oceanographic research, military operations, environmental monitoring, and commercial shipping. The operation of an unmanned vessel involves multiple interconnected systems working harmoniously to ensure the vessel performs its intended tasks effectively and safely.

[0003] To ensure the safe and effective operation of USVs, it is crucial to continuously monitor a variety of alarms and data points of USV systems. These systems include, for example, navigation, propulsion, communication, and payload management, all of which must function optimally to maintain the vessel's operational integrity. Monitoring these parameters allows operators to detect and address any issues or anomalies in real-time, preventing potential failures or accidents.

[0004] Traditional systems for piloting USVs often require operators to monitor multiple screens or interfaces to track different alarms and data points. This fragmentation can lead to information overload and increases the risk of missing critical alerts. Operators must constantly shift their focus between various displays, making it difficult to maintain a comprehensive situational awareness.

[0005] The need to monitor numerous data points and alarms simultaneously places a significant burden on operators. This high cognitive load can lead to fatigue and reduce the operator’s ability to quickly and accurately respond to critical situations. In high-pressureenvironments, the time and effort required to interpret multiple streams of information can delay decision-making and increase the likelihood of errors.

[0006] Many existing systems do not effectively prioritise alarms based on their severity and urgency. As a result, operators may be inundated with a mix of critical and non-critical alerts, making it challenging to discern which issues require immediate attention. This lack of prioritisation can lead to important alarms being overlooked or delayed responses to critical events.

[0007] Operators of USVs are legally obligated to maintain a visual lookout while at sea. Traditional monitoring systems that require constant attention to multiple screens can hinder operators from fulfilling this obligation. The inability to easily monitor the USV’s status while maintaining a visual lookout can compromise safety and lead to legal non-compliance.

[0008] Existing monitoring systems often lack flexibility in terms of customisation. Operators may not be able to configure the display or alarm settings to suit their specific needs and preferences. This lack of customisability can result in a suboptimal user experience and reduce the overall effectiveness of the monitoring system.

[0009] In consideration of the above, it is desirable that a method of warning an operator of a safety-related condition of a vessel in an effective and straightforward way is provided.BRIEF SUMMARY OF THE INVENTION

[0010] According to one aspect of the present disclosure, there is presented a method of warning an operator of a safety-related condition of an unmanned vessel, the method is performed by a processor and comprising the steps of:

[0011] - detecting presence of a specific safety-related condition, the presence of the specific safety-related condition being determined by comparing a parameter of a subsystem of the vessel with a predefined safety-warning threshold;

[0012] - indicating the presence of the specific safety-related condition to the operator via a display unit by triggering a display item such that the operator is promoted to take an action to respond to the specific safety-related condition, the display item being triggerable by one or more safety-related conditions comprising the specific safety-related condition.

[0013] The present disclosure is based on the inventor’s insight that warning about a safety- related condition of an unmanned vessel can be provided to an operator in a straightforwardmanner by first determining that a specific safety-related condition is present and then bringing the presence of such a safety-related condition of the vessel to the attention of the operator. The presence of such a safety -related condition of the vessel is indicated to the operator by triggering a display item on a display unit, which allows the operator to take an action to respond to the detected safety-related condition.

[0014] The method is performed by a processor, such as a processor of a control device, located on for example an onshore operator centre or another vessel, operated or controlled by the operator. The operator therefore is relieved of the burden of continuously tracking different alarms and data points one multiple screens or interfaces. As a result, the operator, while positioned onboard, can maintain situational awareness and fulfil their legal obligations at sea.

[0015] Moreover, with the method of the present disclosure, the operator is presented with alerts related to different safety-related conditions of the unmanned vessel in a structured and intuitive way. The operator does not have to identify and determine, from various data points and signals displayed on multiple screens, a most critical situation that she has to respond to. This allows the operator to make more efficient decisions and reduces the likelihood of erroneous decisions. In the present disclosure, the terms unmanned surface vessel, uncrewed surface vessel, USV, unmanned vessel, uncrewed vessel, surface vessel, and / or vessel, may be used interspersed and all relate to the same vessel which is designed to operate with no need for personnel on board.

[0016] In an example of the present disclosure, a parameter of a subsystem of the vessel is obtained by continuously monitoring a relevant sensor or data point on board the vessel.

[0017] As can be contemplated by those skilled in the art, an unmanned vessel comprises a number of subsystems or components encompassing various functional areas and individual elements that make up the unmanned vessel. Each of the subsystem or component of the unmanned vessel may be equipped with a sensor or a more generally a device providing information or data indicating status of the relevant subsystem. By continuously monitoring the sensors or data points of the subsystems, parameters can be obtained, which, when compared to predefined safetywarning threshold, can be used to indicate a safety-related condition of the subsystem.

[0018] In an example of the present disclosure, the presence of the specific safety-related condition is determined when the parameter of the part of the unmanned vessel is at least one of larger than, equal to or lower than the predefined safety-warning threshold.

[0019] Safety-related conditions for different subsystems of the unmanned vessel can be determined in different ways depending on the subsystems. As an example, an alert is needed when a voltage of a battery of the unmanned vessel is lower than a voltage threshold, while for the bilge an alert should be given when the water level in the bilge rises above a predefined threshold.

[0020] In an example of the present disclosure, the predefined safety-warning threshold is defined by a user.

[0021] It can be contemplated by those skilled in the art that respective safety-warning thresholds for different subsystems of the unmanned vessel can be configured in different ways, an example of which being having user defined thresholds, which allows the operator to customize the warnings to be received. This can be implemented via for example a user interface.

[0022] A safety-warning threshold may also be preset in the system, which helps to ensure standardized and reliable warnings.

[0023] In an example of the present disclosure, wherein triggering the display item comprises displaying the display item in a colour different than a currently displayed colour.

[0024] By changing the colour of the display item, the specific safety-related condition is indicated or conveyed to the operator in a simple and effective way.

[0025] In an example of the present disclosure, the method further comprising triggering an audio warning signal.

[0026] The audio warning signal may be used in addition to or in place of the display items. It is a more effective way of indicating the safety related condition to the operator.

[0027] In an example of the present disclosure, the safety-related conditions relate to one or more of bilge, generators, generator compartments, propulsion system, batteries, hull compartments, communication room, autopilot, navigation of the unmanned vessel.

[0028] It can be understood by those skilled in the art that safe operation of the unmanned vessel can be ensured when each and every of these subsystems of the unmanned vessel are operating safely. When one or more of the subsystems encounters a safety-related condition, warning will be given to the operator following the method of the present disclosure.

[0029] In an example of the present disclosure, each safety-related condition is associated with a display item.

[0030] A display item gets triggered when a safety-related condition is detected. This is to guarantee that the operator of the unmanned vessel is alerted of the all the safety related conditions.

[0031] In an example of the present disclosure, each display item comprises a plurality of subitems respectively related to different safety-related conditions.

[0032] As can be contemplated by those skilled in the art, a display item is generally related to or associated with a group of safety-related conditions. The presence of each of the group of safety-related conditions allows the display item to get triggered. The sub-items give more detailed information about a specific safety-related condition which triggers the higher-level display item.

[0033] Moreover, the one or more sub-items are displayed when a triggered display item is clicked.

[0034] By clicking a triggered display item, one or more sub-items indicating specific safety- related conditions that can be used to trigger the display item are displayed. Sub-items associated with the one or more specific safety-related conditions triggering the display item are displayed in a colour corresponding to the displaying colour of the higher-level display item, such that the operator can easily identify the specific safety-related condition.

[0035] In an example of the present disclosure, the method comprises further triggering a dedicated alarm when the specific safety-related condition is associated with integrity of the unmanned vessel.

[0036] The dedicated alarm, which may also be referred to as a master alarm, is a high-priority alert that signifies a critical and potentially mission-threatening issue within the vessel's systems. This alarm is used to capture the operator’s immediate attention due to its severity and the urgent need for corrective action to ensure the safety and operational integrity of the USV.

[0037] Therefore, when the detected specific safety-related condition is associated with integrity of the unmanned vessel, the dedicated alarm is used, in addition to the triggered display item, to allow the operator to become the aware of the situation immediately.

[0038] In an example of the present disclosure, the dedicated alarm cannot be switched off until the specific safety-related condition disappears.

[0039] It may be possible to silent the dedicated alarm temporarily, say for 30 seconds, but the dedicated alarm will be triggered again, unless the specific safety-related condition disappears as the result of for example a remedy action taken by the operator or by the USV itself.

[0040] In an example of the present disclosure the action taken by the operator comprises one or more of turning on a bilge pump, shutting down a generator, lowering a throttle, shutting downa relevant battery, activating a generator, overriding automation, and switching to manual operation.

[0041] The operator takes such action to remedy the safety-related condition that triggers the alarm, that is the display item. The safe operation of the unmanned vessel is therefor ensured.

[0042] In an example of the present disclosure, the unmanned vessel comprises an unmanned surface vehicle.

[0043] In a second aspect of the present disclosure, there is system for warning an operator of a safety-related condition of an unmanned vessel, the system comprising the unmanned vessel and a device comprising a processor and a display unit, wherein the processor is configured to:

[0044] detect presence of a specific safety-related condition, the presence of the specific safety-related condition being determined by comparing a parameter of a subsystem of the unmanned vessel with a predefined safety -warning threshold; and

[0045] indicate the presence of the specific safety-related condition to the operator via the display unit by triggering a display item such that the operator is prompted to take an action to respond to the specific safety-related condition, the display item being triggerable by one or more safety-related conditions comprising the specific safety-related condition.

[0046] The system as recited here is used to draw the immediate attention of an operator to the vessel when a safety related condition occurs with the vessel. The alerts related to different safety- related conditions of the unmanned vessel is presented to the operator in a structured and intuitive way, allowing the operator to take relevant actions where necessary. The operator does not have to identify and determine, from various data points and signals displayed on multiple screens, a most critical situation that she has to respond to. This allows the operator to make more efficient decisions and reduces the likelihood of erroneous decisions.

[0047] In a third aspect of the present disclosure, a computer program product is provided, the computer program product comprising a computer readable storage medium storing instructions which, when executed on at least one processor, cause the at least one processor to carry out the method according to

[0048] The above mentioned and other features and advantages of the disclosure will be best understood from the following description referring to the attached drawings. In the drawings, like reference numerals donate identical parts or parts performing an identical or comparable function or operation.BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to describe the manner in which the above-recited and other advantages and features of the disclosure can be obtained, a more particular description of the principles briefly described above will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings. Understanding that these drawings depict only exemplary embodiments of the disclosure and are therefore not to be considered to be limiting of its scope, the principles herein are described and explained with additional specificity and detail through the use of the accompanying drawings in which:

[0050] FIG. 1 schematically illustrates a system for warning an operator of a safety-related condition of an unmanned vessel is illustrated.

[0051] FIG. 2 schematically illustrates, in a flow chart type diagram, an embodiment of a method of warning an operator of a safety-related condition of a USV, according to the present disclosure.

[0052] FIG. 3 schematically illustrates a block diagram showing display items on a display unit.

[0053] FIG. 4 schematically illustrates a display item of FIG. 3 being triggered and associated sub-items.

[0054] FIG. 5 illustrates a method of customising a user alarm by a user.DESCRIPTION OF ILLUSTRATIVE EMBODIMENTS

[0055] Embodiments contemplated by the present disclosure will now be described in more detail with reference to the accompanying drawings. The disclosed subject matter should not be construed as limited to only the embodiments set forth herein. Rather, the illustrated embodiments are provided by way of example to convey the scope of the subject matter to those skilled in the art.

[0056] The present disclosure is detailed below with reference to a system for warning an operator of a safety-related condition of an unmanned surface vessel, USV. Those skilled in the art will appreciate that the present disclosure is not limited to USVs, but is applicable for various unmanned vessels operated remotely by an operator located on another vessel such as a mother vessel or an onshore operation centre.

[0057] Referring to FIG. 1, a system 10 for warning an operator of a safety-related condition of an unmanned vessel is illustrated.

[0058] The system 10 comprises one or more US Vs 11 and 12, each of which operable by an operator via a device 110, which may also be referred to as a control device. The device 110 is communicatively connected 15 with each of the US Vs 11 and 12 via for example a communication network.

[0059] The device 110 can be positioned at a shore-based control or operation centre located on land, where operators can manage multiple USVs from a centralized location, with advanced communication and monitoring technologies.

[0060] The device 110 may also be positioned on a vessel or a mothership. In other words, USVs are operated from a larger manned vessel that act as the mothership, which can be positioned close to the USVs area of operation.

[0061] The device 110 may also be deployed on a portable or mobile control station, which can be transported to different locations as needed. These can be set up on various platforms like temporary onshore locations or smaller support vessels.

[0062] The device 110 can be a computing device comprising, as its core, a processor 111 and a display unit 112, with additional optional features, such as memory, keyboard, speakers and so on, enhancing its functionality, as can be understood by those skilled in the art.

[0063] The processor 111 can be for example a high-performance multi-core processor. This processor ensures that the device 110 can handle the complex computations and data processing required for real-time control and monitoring of the USV. The processor 111 also manages communication with the USV, processes incoming sensor data, and runs the control algorithms that guide the vessel’s operations.

[0064] The display unit 112 can be for example a high-resolution touchscreen, providing a visually rich and interactive interface for the operator. This screen displays real-time data, including video feeds from the USVs cameras, system status indicators, navigation charts, and various alarms.

[0065] The communication network between the device and the USV is arranged to ensure seamless data transmission, command relay, and overall operational integrity. This network can employ a combination of technologies to maintain robust and reliable communication, whether the USV is operating close to shore or in remote, open-water environments.

[0066] As can be understood by those skilled in the art, the communication network can make use of radio frequency, RF, links, for short to medium-range communication. These links provide a direct and low-latency connection between the operator’s device and the USV.

[0067] For longer-range communication or when the USV operates beyond the line of sight, satellite communication can be used. Satellite links enable global coverage, allowing the operator to maintain a connection with the USV regardless of its location. This is particularly important for missions that require the USV to operate in remote or vast maritime areas.

[0068] Cellular networks are another component of the communication infrastructure, especially useful when the USV operates within range of coastal cellular towers. Utilizing 4G or 5G networks, the operator’s device can maintain a high-bandwidth connection with the USV, facilitating the transmission of large data volumes such as high-definition video feeds.

[0069] A brief description of the subsystems of the USV is given in the following. These subsystems ensure the USV can operate autonomously or under remote control, effectively navigating, gathering data, and completing tasks across diverse applications. The subsystems of the USV can comprises:

[0070] Hull and structural components: The hull forms the backbone of the USV, providing buoyancy and stability in water. It houses other critical subsystems and protects them from the harsh maritime environment. Hull compartments, including watertight sections, ensure the vessel remains afloat even if part of it is damaged.

[0071] Propulsion System: The propulsion system, typically consisting of engines or motors and propellers or water jets, provides the necessary thrust to move the USV through the water. This system is designed for efficiency and reliability, enabling the USV to reach and maintain desired speeds and navigate various water conditions. Electric, diesel, or hybrid propulsion systems are commonly used depending on the mission requirements and operational range.

[0072] Power System: The power system includes batteries, generators, and power distribution units that supply electricity to all onboard systems. Batteries are crucial for providing silent operation and reducing emissions, while generators can extend the operational range by recharging batteries or directly powering systems.

[0073] Navigation and Control System: The navigation and control system integrate for example GPS, inertial navigation systems, and autopilot functionalities to steer the vessel alongpredefined routes or react to dynamic conditions. This system allows the USV to operate autonomously or under remote supervision.

[0074] Communication System: The communication system enables real-time data exchange between the USV and the remote operator. It may include RF links for short-range communication, satellite communication for long-range connectivity, and cellular networks for nearshore operations.

[0075] Bilge and Safety Systems: The bilge system manages water ingress, ensuring that the USV remains buoyant and operational. It includes pumps and sensors to detect and remove water from the hull compartments. Safety systems also encompass emergency shutdown mechanisms, fire suppression systems, and structural health monitoring to detect and respond to any issues that could compromise the vessel's integrity or mission.

[0076] Generator Compartments and Auxiliary Systems: These compartments house auxiliary generators and other critical support systems that enhance the USV's operational capabilities. These systems provide backup power, cooling, and other necessary functions to support the primary subsystems, ensuring continuous and reliable operation under various conditions.

[0077] In the following, a method of warning an operator of a safety-related condition of an unmanned vessel in accordance with the present disclosure will be described.

[0078] Figure 2 schematically illustrates, in a flow chart type diagram 20, an embodiment of a method of warning an operator of a safety-related condition of a USV, according to the present disclosure.

[0079] At step 21, presence of a specific safety -related condition is detected by the processor. The presence of the specific safety-related condition is determined by comparing a parameter of a subsystem of the USV with an associated predefined safety- warning threshold.

[0080] The method of the present disclosure makes use of low-level logic to detect the presence of safety-related conditions. Low-level logic refers to a fundamental, rule-based processing performed by the system shown in Figure 1 to evaluate incoming data against predefined conditions or thresholds. It operates close to the hardware level, ensuring rapid and efficient data processing.

[0081] The procedure of detecting safety-related conditions is described generally in the following.

[0082] As can be contemplated by those skilled in the art, various parameters such as engine temperature, battery voltage, hull integrity, propulsion status, bilge water levels and so on are continuously collected from different sensors and subsystems provided on the USV. The collected parameters are transmitted from the USV 11, 12 to the device 10.

[0083] As an example, USV, the Message Queuing Telemetry Transport, MQTT, protocol can be used by the device 10 to continuously read data from various sensors and subsystems of the USV. Specifically, sensors on the USV used, for example for obtaining engine temperature, battery voltage, hull integrity, publish their data to specific MQTT topics at regular intervals.

[0084] An MQTT broker is configured to manage the data streams published by the sensors, ensuring that published messages are available to any system subscribing to the relevant topics.

[0085] The device used for operating the US Vs can subscribes to these topics, via for example a centralized monitoring interface, to receive real-time updates on the USV's status.

[0086] MQTT is designed to be lightweight, minimizing the overhead in message transport. This is particularly important for USV systems where bandwidth may be limited and power efficiency is crucial. Other communication protocols may be used to transmit data from the USV to the monitoring device, which will not be elaborated here.

[0087] Each parameter has a predefined safety threshold or condition established based on operational norms and safety standards. For example, the engine temperature should remain within a specific range, or the battery voltage should not drop below a certain level.

[0088] In a conventional system, an operator of the USV has to continuously monitor and evaluate these parameters to see if any safety-related condition has occurred, so as to ensure safe operation of the USV.

[0089] In the present disclosure, the low-level logic is used to continuously compares the realtime data from the sensors with these predefined thresholds. The low-level logic can be implemented as for example a comparing module running in the processor of the device 110. The comparing module compares a collected parameter with an associated threshold, which can be referred to as a predefined safety -warning threshold.

[0090] The low-level logic evaluates whether a condition for triggering an alarm is set. The condition can be for example a parameter exceeding or falling below its predefined threshold. For example, if the engine temperature rises above a maximum allowable limit, the logic recognizes this as an abnormal condition. The condition may also be when a parameter is equal to a predefinedthreshold. In short, the low-level logic decides if a safety-related condition is present. If so, the method proceeds to step 22.

[0091] At step 22, the presence of the specific safety-related condition is indicated to the operator via a display unit by triggering a display item on the display unit, such that the operator can or is prompted to take a necessary action to respond to the specific safety-related condition.

[0092] In the present disclosure, the display item is triggerable by one or more safety-related conditions comprising the specific safety-related condition.

[0093] Figure 3 schematically illustrates a block diagram showing display items on a display unit.

[0094] It is shown in Figure 3 that a number of display items 31, 32... 3N are displayed on the display unit 312. The display items can be respectively associated with the subsystems of the USV, such as for example bilge, generators, propulsion, batteries, hull compartments, generator compartments, comms room, autopilot, and navigation of the USV.

[0095] As an example, a display item named “battery” and associated with batteries of the USV can be triggered when parameters indicate that a battery voltage is below a predefined battery voltage threshold or a battery current is higher than a predefined battery current threshold.

[0096] A display item being triggered as used in the present disclosure means that the display item is displayed in a colour different than a currently displayed colour. As an example, when a subsystem of the USV is operating normally, a display item associated with the subsystem is displayed for example in gray. When a safety-related condition associated with the subsystem is detected, the associated display item can be displayed in for example yellow or red.

[0097] The remaining of the display unit can be used to display other information, such as the navigation map of the USV and so on, which is beyond the scope of the present disclosure and will not be elaborated here.

[0098] In the present disclosure, each safety -related condition is associated with a display item, each display item comprises a plurality of sub-items respectively related to different safety-related conditions. In this sense, the alarms related to a certain display item are arranged hierarchically in the sense that a group of safety-related conditions relating to a same subsystem of the USV will allow a same display item to be triggered.

[0099] As an example, referring to Figure 4, display item “Item 4” 34 can have the name “battery”, which is triggered, indicated with line pattern in Figure 4, when a safety-relatedcondition happens to one of the batteries on board the vessel. By clicking on the triggered Item 4, the operator can see details via a triggered sub-item 41 to 44, like which battery is in a problematic condition, and what the condition is.

[0100] As an example, the sub-items 41 to 44 may include texts such as "Port service battery below 46V", "Starboard service battery below 46V", "Port Master LV E-Stop Engaged", "Port drive battery below 46V", "Port service battery current too high (>300A)" and so on.

[0101] In the present disclosure, when the detected specific safety-related condition signifies a critical and potentially mission-threatening issue within the vessel's systems, in addition to triggering the related display item, a dedicated alarm 39 as show in Figure 3 is also triggered at the same time. This dedicated alarm 39 is used to capture the operator’s immediate attention, such that necessary action can be taken by the operator to respond to the specific safety-related condition.

[0102] As can be contemplated by those skilled in the art, the phrase “critical and potentially mission-threatening issue” is used in the present disclosure to refer to conditions related to the physical condition and safety of the USV itself, which could potentially lead to severe damage or loss of the vessel if not addressed immediately.

[0103] These conditions can include for example water ingress to the vessel, fire in a compartment of the vessel, fire extinguisher activation, power failure, compartment temperature higher than a defined threshold and so on.

[0104] A button (not shown) on the display unit may be used by the operator to disable the dedicated alarm 39. However, unless the issue with the relevant part of the USV triggering the dedicated alarm 39 is solved, the dedicated alarm 39 will be triggered again after a certain period of time, which may be for example 30 seconds. In a sense, the dedicated alarm is non-dismissable or cannot be ignored or disposed of by the operator because they are critical and require immediate attention and resolution.

[0105] Figure 5 illustrates a method of customising a user alarm by a user. The user can type in a name to be given to the alarm via a field 51, in Figure 5 the alarm is given the name “Depth alert”. The dropdown menu allows the user to select a parameter to be used in relevant with a customised alarm. The plus sign 53 to the right of the dropdown menu 52 allows the user to add a parameter if not available directly.

[0106] The dropdown menu 54 and the field 55 together allows the user to set a condition for triggering the alarm. In Figure 5, when the depth of the water is below 23 meters, a relevant alarm gets triggered.

[0107] By checking the tickbox 56, the user can also enable paying of alarm sound when the customized alarm is triggered.

[0108] Buttons 57 and 58 can be used by the user to cancel or confirm the addition of the alarm.

[0109] The low-level logic also includes rules for prioritizing alarms based on the severity and urgency of the conditions detected. Critical conditions that pose an immediate threat to the US Vs operation or safety, such as, for example engine overheating, battery failure, hull breach, are given high priority.

[0110] Less critical conditions that do not require immediate attention like slight deviation in non-essential system performance can be filtered out or deprioritized.

[0111] In response to the triggering of the display item indicating the presence of the specific safety -related condition, the operator of the USV takes one or more actions needed to remedy the condition.

[0112] Whether the safety-related condition triggering the alarm is critical or not, an action can be taken by the operator to respond to the related condition, which helps to ensure the safe operation of the vessel.

[0113] As an example, when an alert indicating that a generator on fire, the operator will take actions to immediately shut down the generator to prevent further damage or risk of explosion. Moreover, a fire suppression system is activated, and the related area is isolated if possible.

[0114] In an example, when water detected in the bilge, a bilge pump is turned on to remove water and prevent flooding. The operator may further investigate the source of the water ingress and take corrective measures (e.g., close hatches or seal leaks).

[0115] If engine overheating is indicated, the operator can reduce engine load by lowering the throttle or shut down the engine to prevent further damage. Investigating the cause of overheating, such as coolant failure or oil pressure issues may also be performed.

[0116] In case of battery failure or thermal runaway, the affected battery pack is shut down to prevent further damage or potential fire. Monitor battery temperature and voltage levels closely, and switch to an alternative power source if available.

[0117] As for less critical issues, like loss of GPS signal, the operator can switch to manual navigation mode or use alternative navigation systems like INS (Inertial Navigation System) until the GPS signal is restored.

[0118] In case of minor sensor malfunction (e.g., wind sensor), the operator can choose to continue operating without the sensor input or switch to a backup sensor if available. Flag the issue for maintenance or replacement once the mission is complete.

[0119] General actions that can be taken may also include:

[0120] Override automation to take direct manual control of the USV if automated systems fail or are unreliable.

[0121] Notify on-site personnel (if the USV is operating near other vessels or platforms) to provide situational awareness of the problem.

[0122] Activate emergency protocols, such as returning the USV to a predefined safe location (e.g., a recovery vessel or docking station).

[0123] Log the event in the system for later analysis and maintenance once the mission is completed.

[0124] These actions help mitigate risks and ensure the continued safe operation of the USV, whether the issue is a critical vessel integrity problem or a more operational one.

[0125] The invention has been described by reference to certain embodiments discussed above. It will be recognized that these embodiments are susceptible to various modifications and alternative forms well known to those of skill in the art.

[0126] Further modifications in addition to those described above may be made to the structures and techniques described herein without departing from the spirit and scope of the invention. Accordingly, although specific embodiments have been described, these are examples only and are not limiting upon the scope of the invention.

Claims

CLAIMS1. A method of warning an operator of a safety-related condition of an unmanned vessel, the method performed by a processor and comprising the steps of: detecting presence of a specific safety-related condition, the presence of the specific safety-related condition being determined by comparing a parameter of a subsystem of the unmanned vessel with a predefined safety-warning threshold; and indicating the presence of the specific safety-related condition to the operator via a display unit by triggering a display item such that the operator is prompted to take an action to respond to the specific safety-related condition, the display item being triggerable by one or more safety-related conditions comprising the specific safety-related condition.

2. The method according to claim 1, wherein a parameter of a subsystem of the unmanned vessel is obtained by continuously monitoring a relevant sensor or data point on board the unmanned vessel.

3. The method according to claim 1 or 2, wherein the presence of the specific safety-related condition is determined when the parameter of the subsystem of the unmanned vessel is at least one of larger than, equal to or lower than the predefined safety -warning threshold.

4. The method according to claim 3, wherein the predefined safety -warning threshold is defined by a user.

5. The method according to any of the previous claims, wherein triggering the display item comprises displaying the display item in a colour different than a currently displayed colour.

6. The method according to any of the previous claims, further comprising triggering an audio warning signal.

7. The method according to any of the previous claims, wherein the safety-related conditions relate to one or more of bilge, generators, propulsion, batteries, hull compartments, generator compartments, comms room, autopilot, navigation of the unmanned vessel.

8. The method according to claim 7, wherein each safety-related condition is associated with a display item, each display item comprises a plurality of sub-items respectively related to different safety -related conditions.

9. The method according to any of the previous claims, comprising further triggering a dedicated alarm when the specific safety-related condition is associated with integrity of the unmanned vessel.

10. The method according to claim 9, wherein the dedicated alarm cannot be switched off until the specific safety-related condition disappears.

11. The method according to any of the previous claims, wherein the action taken by the operator comprises one or more of turning on a bilge pump, shutting down a generator, lowering a throttle, shutting down a relevant battery, activating a generator, overriding automation, and switching to manual operation.

12. The method according to any of the previous claims, wherein the unmanned vessel comprises an unmanned surface vehicle.

13. A system for warning an operator of a safety-related condition of an unmanned vessel, the system comprising the unmanned vessel and a device comprising a processor and a display unit, wherein the processor is configured to: detect presence of a specific safety-related condition, the presence of the specific safety-related condition being determined by comparing a parameter of a subsystem of the unmanned vessel with a predefined safety-warning threshold; and indicate the presence of the specific safety-related condition to the operator via the display unit by way of a display item such that the operator is prompted to take an action to respond to the specific safety-related condition, the display item being triggerable by one or more safety- related conditions comprising the specific safety-related condition.1814. The system of claim 13, wherein the vessel comprises an unmanned surface vehicle.

15. A computer program product, comprising a computer readable storage medium storing instructions which, when executed on at least one processor, cause the at least one processor to carry out the method according to any of the claims 1 to 12.

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